Related papers: Virtual-force Based Visual Servo for Multiple Peg-…
The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
Reinforcement learning-based control policies have been frequently demonstrated to be more effective than analytical techniques for many manipulation tasks. Commonly, these methods learn neural control policies that predict end-effector…
Vision is well-known for its use in manipulation, especially using visual servoing. Due to the 3D nature of the world, using multiple camera views and merging them creates better representations for Q-learning and in turn, trains more…
Reinforcement Learning (RL) has shown great promise for efficiently learning force control policies in peg-in-hole tasks. However, robots often face difficulties due to visual occlusions by the gripper and uncertainties in the initial…
We propose a fast and accurate method of 6D object pose estimation for bin-picking of mechanical parts by a robot manipulator. We extend the single-shot approach to stereo vision by application of attention architecture. Our convolutional…
Assembling a slave object into a fixture-free master object represents a critical challenge in flexible manufacturing. Existing deep reinforcement learning-based methods, while benefiting from visual or operational priors, often struggle…
While Visual Servoing is deeply studied to perform simple maneuvers, the literature does not commonly address complex cases where the target is far out of the camera's field of view (FOV) during the maneuver. For this reason, in this paper,…
We present Multi-view Pose transformer (MvP) for estimating multi-person 3D poses from multi-view images. Instead of estimating 3D joint locations from costly volumetric representation or reconstructing the per-person 3D pose from multiple…
PatchMatch based Multi-view Stereo (MVS) algorithms have achieved great success in large-scale scene reconstruction tasks. However, reconstruction of texture-less planes often fails as similarity measurement methods may become ineffective…
Contact-rich robotic skills remain challenging for industrial robots due to tight geometric tolerances, frictional variability, and uncertain contact dynamics, particularly when using position-controlled manipulators. This paper presents a…
Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…
Anchor-bolt insertion is a peg-in-hole task performed in the construction field for holes in concrete. Efforts have been made to automate this task, but the variable lighting and hole surface conditions, as well as the requirements for…
Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches struggle with occlusion and limited…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…
This paper aims at solving mass precise peg-in-hole assembly. First, a feature space and a response space are constructed according to the relative pose and equivalent forces and moments. Then the contact states are segmented in the feature…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
We present a learning-based force-torque dynamics to achieve model-based control for contact-rich peg-in-hole task using force-only inputs. Learning the force-torque dynamics is challenging because of the ambiguity of the low-dimensional…